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<div class="title">mls.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *   from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_MLS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_MLS_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/boost.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/eigen.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/processing.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html">   65</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_moving_least_squares.html">MovingLeastSquares</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_cloud_surface_processing.html">CloudSurfaceProcessing</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;MovingLeastSquares&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const MovingLeastSquares&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::fake_indices_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointInT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">NormalCloud</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr NormalCloudPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudOut::Ptr PointCloudOutPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudOut::ConstPtr PointCloudOutConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;int (<span class="keywordtype">int</span>, <span class="keywordtype">double</span>, std::vector&lt;int&gt; &amp;, std::vector&lt;float&gt; &amp;)&gt; SearchMethod;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">enum</span> UpsamplingMethod {NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION};</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a379330b0b1dacaa668d165f94930749c">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a379330b0b1dacaa668d165f94930749c">MovingLeastSquares</a> () : <a class="code" href="classpcl_1_1_cloud_surface_processing.html">CloudSurfaceProcessing</a>&lt;PointInT, PointOutT&gt; (),</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a8f261a61a049a33b90064b0956a1b34a">normals_</a> (),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">distinct_cloud_</a> (),</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">search_method_</a> (),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">tree_</a> (),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">order_</a> (2),</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">polynomial_fit_</a> (true),</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a> (0.0),</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">sqr_gauss_param_</a> (0.0),</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">compute_normals_</a> (false),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">upsample_method_</a> (NONE),</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">upsampling_radius_</a> (0.0),</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">upsampling_step_</a> (0.0),</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">desired_num_points_in_radius_</a> (0),</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#afb0395459bc94fa4c1990b47d471a4bc">mls_results_</a> (),</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">voxel_size_</a> (1.0),</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">dilation_iteration_num_</a> (0),</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#aca9f46399d7e0d6bfb08b9d6ffbb58d1">nr_coeff_</a> (),</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">corresponding_input_indices_</a> (),</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#a000d8f30c194ac2a36b84120698c99c1">rng_alg_</a> (),</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                              <a class="code" href="classpcl_1_1_moving_least_squares.html#ad7623ffdbf0db9c66b246b5499c07706">rng_uniform_distribution_</a> ()</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                              {};</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a085971b0da5e600bc65d11dd67704845">  119</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a085971b0da5e600bc65d11dd67704845">~MovingLeastSquares</a> () {}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a5983412b9e7efee57f491d1c54da21d6">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a5983412b9e7efee57f491d1c54da21d6">setComputeNormals</a> (<span class="keywordtype">bool</span> compute_normals) { <a class="code" href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">compute_normals_</a> = compute_normals; }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ab0865f62d90c9fb0f45dd96e587fe84e">  132</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ab0865f62d90c9fb0f45dd96e587fe84e">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">tree_</a> = tree;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">// Declare the search locator definition</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        int (<a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>::*radiusSearch)(<span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn) <span class="keyword">const</span> = &amp;<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">KdTree::radiusSearch</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">search_method_</a> = boost::bind (radiusSearch, boost::ref (<a class="code" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">tree_</a>), _1, _2, _3, _4, 0);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">inline</span> KdTreePtr </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ae7ce226e11ebd75b8cc735c768e3d71e">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ae7ce226e11ebd75b8cc735c768e3d71e">getSearchMethod</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">tree_</a>); }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a3127676a2bb32a32164a181bfbbf7589">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a3127676a2bb32a32164a181bfbbf7589">setPolynomialOrder</a> (<span class="keywordtype">int</span> order) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">order_</a> = order; }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a774074cfad90821ef4ae61dac558342c">  152</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a774074cfad90821ef4ae61dac558342c">getPolynomialOrder</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">order_</a>); }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#aec89a5e1f9001476eb1fc2b8db63d650">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#aec89a5e1f9001476eb1fc2b8db63d650">setPolynomialFit</a> (<span class="keywordtype">bool</span> polynomial_fit) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">polynomial_fit_</a> = polynomial_fit; }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ac9125a4e1aa5647b0e5ac282a8e01cef">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ac9125a4e1aa5647b0e5ac282a8e01cef">getPolynomialFit</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">polynomial_fit_</a>); }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ae5e4d16c7aae631ef02bf1ee843bd55e">  169</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ae5e4d16c7aae631ef02bf1ee843bd55e">setSearchRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a> = radius; <a class="code" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">sqr_gauss_param_</a> = <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a> * <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a>; }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a79088f22a05bad7793018b3628545154">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a79088f22a05bad7793018b3628545154">getSearchRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a>); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a026b12106161eba174b69ef67d769950">  180</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a026b12106161eba174b69ef67d769950">setSqrGaussParam</a> (<span class="keywordtype">double</span> sqr_gauss_param) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">sqr_gauss_param_</a> = sqr_gauss_param; }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a0de2cd297da3db1daef0b090a6e54a67">  184</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a0de2cd297da3db1daef0b090a6e54a67">getSqrGaussParam</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">sqr_gauss_param_</a>); }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ac29ad97b98353d64ce64e2ff924f7d20">  206</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ac29ad97b98353d64ce64e2ff924f7d20">setUpsamplingMethod</a> (UpsamplingMethod method) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">upsample_method_</a> = method; }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a8fc924b0b40e6be32f094aa774ed3809">  210</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a8fc924b0b40e6be32f094aa774ed3809">setDistinctCloud</a> (PointCloudInConstPtr distinct_cloud) { <a class="code" href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">distinct_cloud_</a> = distinct_cloud; }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">inline</span> PointCloudInConstPtr</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a732d3468058eb79d4e2a42de3c9b0ea2">  214</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a732d3468058eb79d4e2a42de3c9b0ea2">getDistinctCloud</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">distinct_cloud_</a>; }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a8efa7671c4b24700c2f22f63affdce9b">  222</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a8efa7671c4b24700c2f22f63affdce9b">setUpsamplingRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">upsampling_radius_</a> = radius; }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a5de9b3c34f261b82847cf9576d7749b0">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a5de9b3c34f261b82847cf9576d7749b0">getUpsamplingRadius</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">upsampling_radius_</a>; }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ac2c814527e15d4d3ff9a5ba5864b842d">  235</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ac2c814527e15d4d3ff9a5ba5864b842d">setUpsamplingStepSize</a> (<span class="keywordtype">double</span> step_size) { <a class="code" href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">upsampling_step_</a> = step_size; }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a3f9392a84fd3363a30ecfb8ccde17d3e">  242</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a3f9392a84fd3363a30ecfb8ccde17d3e">getUpsamplingStepSize</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">upsampling_step_</a>; }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a5c4b8a31a83259d20754e5cc57cb85ae">  250</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a5c4b8a31a83259d20754e5cc57cb85ae">setPointDensity</a> (<span class="keywordtype">int</span> desired_num_points_in_radius) { <a class="code" href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">desired_num_points_in_radius_</a> = desired_num_points_in_radius; }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ae0fca003d2d4b9d2f4fd5cbb775c0cec">  257</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ae0fca003d2d4b9d2f4fd5cbb775c0cec">getPointDensity</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">desired_num_points_in_radius_</a>; }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a91ca6567348b72285196be7c28618182">  264</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a91ca6567348b72285196be7c28618182">setDilationVoxelSize</a> (<span class="keywordtype">float</span> voxel_size) { <a class="code" href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">voxel_size_</a> = voxel_size; }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ad949e7434b0d90828c903fe1ff425ee7">  271</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ad949e7434b0d90828c903fe1ff425ee7">getDilationVoxelSize</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">voxel_size_</a>; }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a08fd0701e8ab705e17c2704ae64601c9">  278</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a08fd0701e8ab705e17c2704ae64601c9">setDilationIterations</a> (<span class="keywordtype">int</span> iterations) { <a class="code" href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">dilation_iteration_num_</a> = iterations; }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a22dee9d7438cb0e792283f10bdf657b7">  284</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a22dee9d7438cb0e792283f10bdf657b7">getDilationIterations</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">dilation_iteration_num_</a>; }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#ad168be16626ea58d1c31c321bd1d980f">process</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <span class="keyword">inline</span> PointIndicesPtr</div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a0d4bbfe0895f35235235247dc296c994">  296</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a0d4bbfe0895f35235235247dc296c994">getCorrespondingIndices</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">corresponding_input_indices_</a>); }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a8f261a61a049a33b90064b0956a1b34a">  300</a></span>&#160;      NormalCloudPtr <a class="code" href="classpcl_1_1_moving_least_squares.html#a8f261a61a049a33b90064b0956a1b34a">normals_</a>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">  303</a></span>&#160;      PointCloudInConstPtr <a class="code" href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">distinct_cloud_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">  306</a></span>&#160;      SearchMethod <a class="code" href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">search_method_</a>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">  309</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">tree_</a>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">  312</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">order_</a>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">  315</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">polynomial_fit_</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">  318</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">  321</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">sqr_gauss_param_</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">  324</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">compute_normals_</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">  327</a></span>&#160;      UpsamplingMethod <a class="code" href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">upsample_method_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">  332</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">upsampling_radius_</a>;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">  337</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">upsampling_step_</a>;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">  342</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">desired_num_points_in_radius_</a>;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      </div>
<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_result.html">  348</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_result.html">MLSResult</a></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <a class="code" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_result.html">MLSResult</a> () : mean (), plane_normal (), u_axis (), v_axis (), c_vec (), num_neighbors (), curvature (), valid (<span class="keyword">false</span>) {}</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <a class="code" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_result.html">MLSResult</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;a_mean,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                   <span class="keyword">const</span> Eigen::Vector3d &amp;a_plane_normal,</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                   <span class="keyword">const</span> Eigen::Vector3d &amp;a_u,</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                   <span class="keyword">const</span> Eigen::Vector3d &amp;a_v,</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                   <span class="keyword">const</span> Eigen::VectorXd a_c_vec,</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">int</span> a_num_neighbors,</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;a_curvature);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        Eigen::Vector3d mean, plane_normal, u_axis, v_axis;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        Eigen::VectorXd c_vec;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordtype">int</span> num_neighbors;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        <span class="keywordtype">float</span> curvature;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <span class="keywordtype">bool</span> valid;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      };</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#afb0395459bc94fa4c1990b47d471a4bc">  370</a></span>&#160;      std::vector&lt;MLSResult&gt; <a class="code" href="classpcl_1_1_moving_least_squares.html#afb0395459bc94fa4c1990b47d471a4bc">mls_results_</a>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      </div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid.html">  376</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid.html">MLSVoxelGrid</a></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_1_1_leaf.html">  379</a></span>&#160;          <span class="keyword">struct </span><a class="code" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_1_1_leaf.html">Leaf</a> { <a class="code" href="structpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_1_1_leaf.html">Leaf</a> () : valid (<span class="keyword">true</span>) {} <span class="keywordtype">bool</span> valid; };</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          <a class="code" href="classpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid.html">MLSVoxelGrid</a> (PointCloudInConstPtr&amp; cloud,</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                        IndicesPtr &amp;indices,</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                        <span class="keywordtype">float</span> voxel_size);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;          dilate ();</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          getIndexIn1D (<span class="keyword">const</span> Eigen::Vector3i &amp;index, uint64_t &amp;index_1d)<span class="keyword"> const</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;            index_1d = index[0] * data_size_ * data_size_ +</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;                       index[1] * data_size_ + index[2];</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;          }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;          getIndexIn3D (uint64_t index_1d, Eigen::Vector3i&amp; index_3d)<span class="keyword"> const</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;            index_3d[0] = <span class="keyword">static_cast&lt;</span>Eigen::Vector3i::Scalar<span class="keyword">&gt;</span> (index_1d / (data_size_ * data_size_));</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;            index_1d -= index_3d[0] * data_size_ * data_size_;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;            index_3d[1] = <span class="keyword">static_cast&lt;</span>Eigen::Vector3i::Scalar<span class="keyword">&gt;</span> (index_1d / data_size_);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            index_1d -= index_3d[1] * data_size_;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;            index_3d[2] = <span class="keyword">static_cast&lt;</span>Eigen::Vector3i::Scalar<span class="keyword">&gt;</span> (index_1d);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;          }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;          getCellIndex (<span class="keyword">const</span> Eigen::Vector3f &amp;p, Eigen::Vector3i&amp; index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;              index[i] = <span class="keyword">static_cast&lt;</span>Eigen::Vector3i::Scalar<span class="keyword">&gt;</span> ((p[i] - bounding_min_(i)) / voxel_size_);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;          }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;          getPosition (<span class="keyword">const</span> uint64_t &amp;index_1d, Eigen::Vector3f &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;            Eigen::Vector3i index_3d;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;            getIndexIn3D (index_1d, index_3d);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;              point[i] = <span class="keyword">static_cast&lt;</span>Eigen::Vector3f::Scalar<span class="keyword">&gt;</span> (index_3d[i]) * voxel_size_ + bounding_min_[i];</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;          }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          <span class="keyword">typedef</span> std::map&lt;uint64_t, Leaf&gt; HashMap;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          HashMap voxel_grid_;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          Eigen::Vector4f bounding_min_, bounding_max_;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          uint64_t data_size_;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          <span class="keywordtype">float</span> voxel_size_;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      };</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">  430</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">voxel_size_</a>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">  433</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">dilation_iteration_num_</a>; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#aca9f46399d7e0d6bfb08b9d6ffbb58d1">  436</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aca9f46399d7e0d6bfb08b9d6ffbb58d1">nr_coeff_</a>;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">  439</a></span>&#160;      PointIndicesPtr <a class="code" href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">corresponding_input_indices_</a>;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a8450a26f10b00753056f01eef9042c1f">  447</a></span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a8450a26f10b00753056f01eef9042c1f">searchForNeighbors</a> (<span class="keywordtype">int</span> index, std::vector&lt;int&gt; &amp;indices, std::vector&lt;float&gt; &amp;sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">search_method_</a> (index, <a class="code" href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">search_radius_</a>, indices, sqr_distances));</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      }</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#af89da1f47e32a533e5c0c75d1a244a74">computeMLSPointNormal</a> (<span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                             <span class="keyword">const</span> std::vector&lt;int&gt; &amp;nn_indices,</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                             std::vector&lt;float&gt; &amp;nn_sqr_dists,</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                             PointCloudOut &amp;projected_points,</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                             NormalCloud &amp;projected_points_normals,</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;                             <a class="code" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;corresponding_input_indices,</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;                             MLSResult &amp;mls_result) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <a class="code" href="classpcl_1_1_moving_least_squares.html#a0e2f25248f7f01a111763877698e06e4">projectPointToMLSSurface</a> (<span class="keywordtype">float</span> &amp;u_disp, <span class="keywordtype">float</span> &amp;v_disp,</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;                                Eigen::Vector3d &amp;u_axis, Eigen::Vector3d &amp;v_axis,</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;                                Eigen::Vector3d &amp;n_axis,</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                                Eigen::Vector3d &amp;mean,</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;                                <span class="keywordtype">float</span> &amp;curvature,</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;                                Eigen::VectorXd &amp;c_vec,</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                                <span class="keywordtype">int</span> num_neighbors,</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                                PointOutT &amp;result_point,</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                                <a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a> &amp;result_normal) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      copyMissingFields (<span class="keyword">const</span> PointInT &amp;point_in,</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;                         PointOutT &amp;point_out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#ae27440d95b1fc5568b2ec820302654a4">performProcessing</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a1a4ffe40c701474aa4f18758d2432ca7">performUpsampling</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00514"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a000d8f30c194ac2a36b84120698c99c1">  514</a></span>&#160;      boost::mt19937 <a class="code" href="classpcl_1_1_moving_least_squares.html#a000d8f30c194ac2a36b84120698c99c1">rng_alg_</a>;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      boost::shared_ptr&lt;boost::variate_generator&lt;boost::mt19937&amp;, </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;                                                 boost::uniform_real&lt;float&gt; &gt; </div>
<div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#ad7623ffdbf0db9c66b246b5499c07706">  521</a></span>&#160;                       &gt; <a class="code" href="classpcl_1_1_moving_least_squares.html#ad7623ffdbf0db9c66b246b5499c07706">rng_uniform_distribution_</a>;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classpcl_1_1_moving_least_squares.html#a4146583850020e8888420f1d734dfe7d">  524</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_moving_least_squares.html#a4146583850020e8888420f1d734dfe7d">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;MovingLeastSquares&quot;</span>); }</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  };</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  <span class="keyword">class </span>MovingLeastSquaresOMP: <span class="keyword">public</span> MovingLeastSquares&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  {</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;MovingLeastSquares&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const MovingLeastSquares&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a8f261a61a049a33b90064b0956a1b34a">MovingLeastSquares&lt;PointInT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">MovingLeastSquares&lt;PointInT, PointOutT&gt;::corresponding_input_indices_</a>;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#aca9f46399d7e0d6bfb08b9d6ffbb58d1">MovingLeastSquares&lt;PointInT, PointOutT&gt;::nr_coeff_</a>;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">MovingLeastSquares&lt;PointInT, PointOutT&gt;::order_</a>;</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">MovingLeastSquares&lt;PointInT, PointOutT&gt;::compute_normals_</a>;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">MovingLeastSquares&lt;PointInT, PointOutT&gt;::upsample_method_</a>;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <span class="keyword">using</span> MovingLeastSquares&lt;PointInT, PointOutT&gt;::VOXEL_GRID_DILATION;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      <span class="keyword">using</span> MovingLeastSquares&lt;PointInT, PointOutT&gt;::DISTINCT_CLOUD;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> NormalCloud;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;      <span class="keyword">typedef</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr NormalCloudPtr;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> PointCloudOut;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudOut::Ptr PointCloudOutPtr;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudOut::ConstPtr PointCloudOutConstPtr;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      MovingLeastSquaresOMP (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threads = 0) : threads_ (threads)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      }</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      setNumberOfThreads (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threads = 0)</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      {</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        threads_ = threads;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> performProcessing (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threads_;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  };</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;}</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/impl/mls.hpp&gt;</span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">/* #ifndef PCL_MLS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_cloud_surface_processing_html"><div class="ttname"><a href="classpcl_1_1_cloud_surface_processing.html">pcl::CloudSurfaceProcessing</a></div><div class="ttdoc">CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...</div><div class="ttdef"><b>Definition:</b> processing.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid.html">pcl::MovingLeastSquares::MLSVoxelGrid</a></div><div class="ttdoc">A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling</div><div class="ttdef"><b>Definition:</b> mls.h:377</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html">pcl::MovingLeastSquares</a></div><div class="ttdoc">MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...</div><div class="ttdef"><b>Definition:</b> mls.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a000d8f30c194ac2a36b84120698c99c1"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a000d8f30c194ac2a36b84120698c99c1">pcl::MovingLeastSquares::rng_alg_</a></div><div class="ttdeci">boost::mt19937 rng_alg_</div><div class="ttdoc">Boost-based random number generator algorithm.</div><div class="ttdef"><b>Definition:</b> mls.h:514</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a026b12106161eba174b69ef67d769950"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a026b12106161eba174b69ef67d769950">pcl::MovingLeastSquares::setSqrGaussParam</a></div><div class="ttdeci">void setSqrGaussParam(double sqr_gauss_param)</div><div class="ttdoc">Set the parameter used for distance based weighting of neighbors (the square of the search radius wor...</div><div class="ttdef"><b>Definition:</b> mls.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a085971b0da5e600bc65d11dd67704845"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a085971b0da5e600bc65d11dd67704845">pcl::MovingLeastSquares::~MovingLeastSquares</a></div><div class="ttdeci">virtual ~MovingLeastSquares()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> mls.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a08fd0701e8ab705e17c2704ae64601c9"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a08fd0701e8ab705e17c2704ae64601c9">pcl::MovingLeastSquares::setDilationIterations</a></div><div class="ttdeci">void setDilationIterations(int iterations)</div><div class="ttdoc">Set the number of dilation steps of the voxel grid</div><div class="ttdef"><b>Definition:</b> mls.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a0d4bbfe0895f35235235247dc296c994"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a0d4bbfe0895f35235235247dc296c994">pcl::MovingLeastSquares::getCorrespondingIndices</a></div><div class="ttdeci">PointIndicesPtr getCorrespondingIndices()</div><div class="ttdoc">Get the set of indices with each point in output having the corresponding point in input</div><div class="ttdef"><b>Definition:</b> mls.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a0de2cd297da3db1daef0b090a6e54a67"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a0de2cd297da3db1daef0b090a6e54a67">pcl::MovingLeastSquares::getSqrGaussParam</a></div><div class="ttdeci">double getSqrGaussParam() const</div><div class="ttdoc">Get the parameter for distance based weighting of neighbors.</div><div class="ttdef"><b>Definition:</b> mls.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a0e2f25248f7f01a111763877698e06e4"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a0e2f25248f7f01a111763877698e06e4">pcl::MovingLeastSquares::projectPointToMLSSurface</a></div><div class="ttdeci">void projectPointToMLSSurface(float &amp;u_disp, float &amp;v_disp, Eigen::Vector3d &amp;u_axis, Eigen::Vector3d &amp;v_axis, Eigen::Vector3d &amp;n_axis, Eigen::Vector3d &amp;mean, float &amp;curvature, Eigen::VectorXd &amp;c_vec, int num_neighbors, PointOutT &amp;result_point, pcl::Normal &amp;result_normal) const</div><div class="ttdoc">Fits a point (sample point) given in the local plane coordinates of an input point (query point) to t...</div><div class="ttdef"><b>Definition:</b> mls.hpp:409</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a1a4ffe40c701474aa4f18758d2432ca7"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a1a4ffe40c701474aa4f18758d2432ca7">pcl::MovingLeastSquares::performUpsampling</a></div><div class="ttdeci">void performUpsampling(PointCloudOut &amp;output)</div><div class="ttdoc">Perform upsampling for the distinct-cloud and voxel-grid methods</div><div class="ttdef"><b>Definition:</b> mls.hpp:590</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a22dee9d7438cb0e792283f10bdf657b7"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a22dee9d7438cb0e792283f10bdf657b7">pcl::MovingLeastSquares::getDilationIterations</a></div><div class="ttdeci">int getDilationIterations()</div><div class="ttdoc">Get the number of dilation steps of the voxel grid</div><div class="ttdef"><b>Definition:</b> mls.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a234ecea03abec8ecb99a5b5f871e7c9e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a234ecea03abec8ecb99a5b5f871e7c9e">pcl::MovingLeastSquares::order_</a></div><div class="ttdeci">int order_</div><div class="ttdoc">The order of the polynomial to be fit.</div><div class="ttdef"><b>Definition:</b> mls.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a3127676a2bb32a32164a181bfbbf7589"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a3127676a2bb32a32164a181bfbbf7589">pcl::MovingLeastSquares::setPolynomialOrder</a></div><div class="ttdeci">void setPolynomialOrder(int order)</div><div class="ttdoc">Set the order of the polynomial to be fit.</div><div class="ttdef"><b>Definition:</b> mls.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a36c2086cb13c37080daba5009f57f484"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a36c2086cb13c37080daba5009f57f484">pcl::MovingLeastSquares::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> mls.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a379330b0b1dacaa668d165f94930749c"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a379330b0b1dacaa668d165f94930749c">pcl::MovingLeastSquares::MovingLeastSquares</a></div><div class="ttdeci">MovingLeastSquares()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> mls.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a3c2a7bb303cf17f5fa5e3360e059e8e7"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a3c2a7bb303cf17f5fa5e3360e059e8e7">pcl::MovingLeastSquares::sqr_gauss_param_</a></div><div class="ttdeci">double sqr_gauss_param_</div><div class="ttdoc">Parameter for distance based weighting of neighbors (search_radius_ * search_radius_ works fine)</div><div class="ttdef"><b>Definition:</b> mls.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a3f9392a84fd3363a30ecfb8ccde17d3e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a3f9392a84fd3363a30ecfb8ccde17d3e">pcl::MovingLeastSquares::getUpsamplingStepSize</a></div><div class="ttdeci">double getUpsamplingStepSize()</div><div class="ttdoc">Get the step size for the local plane sampling</div><div class="ttdef"><b>Definition:</b> mls.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a4146583850020e8888420f1d734dfe7d"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a4146583850020e8888420f1d734dfe7d">pcl::MovingLeastSquares::getClassName</a></div><div class="ttdeci">std::string getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> mls.h:524</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a46e617220222b6d402ebadad8b21cdf3"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a46e617220222b6d402ebadad8b21cdf3">pcl::MovingLeastSquares::polynomial_fit_</a></div><div class="ttdeci">bool polynomial_fit_</div><div class="ttdef"><b>Definition:</b> mls.h:315</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a57adb49b99d770e7d32de6e64c872b4a"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a57adb49b99d770e7d32de6e64c872b4a">pcl::MovingLeastSquares::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> mls.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a5983412b9e7efee57f491d1c54da21d6"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a5983412b9e7efee57f491d1c54da21d6">pcl::MovingLeastSquares::setComputeNormals</a></div><div class="ttdeci">void setComputeNormals(bool compute_normals)</div><div class="ttdoc">Set whether the algorithm should also store the normals computed</div><div class="ttdef"><b>Definition:</b> mls.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a5c4b8a31a83259d20754e5cc57cb85ae"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a5c4b8a31a83259d20754e5cc57cb85ae">pcl::MovingLeastSquares::setPointDensity</a></div><div class="ttdeci">void setPointDensity(int desired_num_points_in_radius)</div><div class="ttdoc">Set the parameter that specifies the desired number of points within the search radius</div><div class="ttdef"><b>Definition:</b> mls.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a5de9b3c34f261b82847cf9576d7749b0"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a5de9b3c34f261b82847cf9576d7749b0">pcl::MovingLeastSquares::getUpsamplingRadius</a></div><div class="ttdeci">double getUpsamplingRadius()</div><div class="ttdoc">Get the radius of the circle in the local point plane that will be sampled</div><div class="ttdef"><b>Definition:</b> mls.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a7144ad759e58dca299c0ab5f8c6259b9"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a7144ad759e58dca299c0ab5f8c6259b9">pcl::MovingLeastSquares::upsampling_step_</a></div><div class="ttdeci">double upsampling_step_</div><div class="ttdoc">Step size for the local plane sampling</div><div class="ttdef"><b>Definition:</b> mls.h:337</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a732d3468058eb79d4e2a42de3c9b0ea2"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a732d3468058eb79d4e2a42de3c9b0ea2">pcl::MovingLeastSquares::getDistinctCloud</a></div><div class="ttdeci">PointCloudInConstPtr getDistinctCloud()</div><div class="ttdoc">Get the distinct cloud used for the DISTINCT_CLOUD upsampling method.</div><div class="ttdef"><b>Definition:</b> mls.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a774074cfad90821ef4ae61dac558342c"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a774074cfad90821ef4ae61dac558342c">pcl::MovingLeastSquares::getPolynomialOrder</a></div><div class="ttdeci">int getPolynomialOrder()</div><div class="ttdoc">Get the order of the polynomial to be fit.</div><div class="ttdef"><b>Definition:</b> mls.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a79088f22a05bad7793018b3628545154"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a79088f22a05bad7793018b3628545154">pcl::MovingLeastSquares::getSearchRadius</a></div><div class="ttdeci">double getSearchRadius()</div><div class="ttdoc">Get the sphere radius used for determining the k-nearest neighbors.</div><div class="ttdef"><b>Definition:</b> mls.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a8450a26f10b00753056f01eef9042c1f"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a8450a26f10b00753056f01eef9042c1f">pcl::MovingLeastSquares::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(int index, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;sqr_distances) const</div><div class="ttdoc">Search for the closest nearest neighbors of a given point using a radius search</div><div class="ttdef"><b>Definition:</b> mls.h:447</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a8efa7671c4b24700c2f22f63affdce9b"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a8efa7671c4b24700c2f22f63affdce9b">pcl::MovingLeastSquares::setUpsamplingRadius</a></div><div class="ttdeci">void setUpsamplingRadius(double radius)</div><div class="ttdoc">Set the radius of the circle in the local point plane that will be sampled</div><div class="ttdef"><b>Definition:</b> mls.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a8f261a61a049a33b90064b0956a1b34a"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a8f261a61a049a33b90064b0956a1b34a">pcl::MovingLeastSquares::normals_</a></div><div class="ttdeci">NormalCloudPtr normals_</div><div class="ttdoc">The point cloud that will hold the estimated normals, if set.</div><div class="ttdef"><b>Definition:</b> mls.h:300</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a8fc924b0b40e6be32f094aa774ed3809"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a8fc924b0b40e6be32f094aa774ed3809">pcl::MovingLeastSquares::setDistinctCloud</a></div><div class="ttdeci">void setDistinctCloud(PointCloudInConstPtr distinct_cloud)</div><div class="ttdoc">Set the distinct cloud used for the DISTINCT_CLOUD upsampling method.</div><div class="ttdef"><b>Definition:</b> mls.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a91ca6567348b72285196be7c28618182"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a91ca6567348b72285196be7c28618182">pcl::MovingLeastSquares::setDilationVoxelSize</a></div><div class="ttdeci">void setDilationVoxelSize(float voxel_size)</div><div class="ttdoc">Set the voxel size for the voxel grid</div><div class="ttdef"><b>Definition:</b> mls.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a9237259f71cf6491ff1f314eddb3b5d0"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a9237259f71cf6491ff1f314eddb3b5d0">pcl::MovingLeastSquares::upsample_method_</a></div><div class="ttdeci">UpsamplingMethod upsample_method_</div><div class="ttdoc">Parameter that specifies the upsampling method to be used</div><div class="ttdef"><b>Definition:</b> mls.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_aa2346b81e98ac4a83b65613b4f5dac9a"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#aa2346b81e98ac4a83b65613b4f5dac9a">pcl::MovingLeastSquares::upsampling_radius_</a></div><div class="ttdeci">double upsampling_radius_</div><div class="ttdoc">Radius of the circle in the local point plane that will be sampled</div><div class="ttdef"><b>Definition:</b> mls.h:332</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ab0865f62d90c9fb0f45dd96e587fe84e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ab0865f62d90c9fb0f45dd96e587fe84e">pcl::MovingLeastSquares::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> mls.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ab4a818c9ec101ecfcf970c6165b201c0"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ab4a818c9ec101ecfcf970c6165b201c0">pcl::MovingLeastSquares::desired_num_points_in_radius_</a></div><div class="ttdeci">int desired_num_points_in_radius_</div><div class="ttdoc">Parameter that specifies the desired number of points within the search radius</div><div class="ttdef"><b>Definition:</b> mls.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac29ad97b98353d64ce64e2ff924f7d20"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac29ad97b98353d64ce64e2ff924f7d20">pcl::MovingLeastSquares::setUpsamplingMethod</a></div><div class="ttdeci">void setUpsamplingMethod(UpsamplingMethod method)</div><div class="ttdoc">Set the upsampling method to be used</div><div class="ttdef"><b>Definition:</b> mls.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac2c814527e15d4d3ff9a5ba5864b842d"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac2c814527e15d4d3ff9a5ba5864b842d">pcl::MovingLeastSquares::setUpsamplingStepSize</a></div><div class="ttdeci">void setUpsamplingStepSize(double step_size)</div><div class="ttdoc">Set the step size for the local plane sampling</div><div class="ttdef"><b>Definition:</b> mls.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac34f1e1593c2fe8860e4d77f91c87930"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac34f1e1593c2fe8860e4d77f91c87930">pcl::MovingLeastSquares::corresponding_input_indices_</a></div><div class="ttdeci">PointIndicesPtr corresponding_input_indices_</div><div class="ttdoc">Collects for each point in output the corrseponding point in the input.</div><div class="ttdef"><b>Definition:</b> mls.h:439</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac9125a4e1aa5647b0e5ac282a8e01cef"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac9125a4e1aa5647b0e5ac282a8e01cef">pcl::MovingLeastSquares::getPolynomialFit</a></div><div class="ttdeci">bool getPolynomialFit()</div><div class="ttdoc">Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial).</div><div class="ttdef"><b>Definition:</b> mls.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_aca9f46399d7e0d6bfb08b9d6ffbb58d1"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#aca9f46399d7e0d6bfb08b9d6ffbb58d1">pcl::MovingLeastSquares::nr_coeff_</a></div><div class="ttdeci">int nr_coeff_</div><div class="ttdoc">Number of coefficients, to be computed from the requested order.</div><div class="ttdef"><b>Definition:</b> mls.h:436</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_acd4484eb2270ad8ce06550e51c13a4d1"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#acd4484eb2270ad8ce06550e51c13a4d1">pcl::MovingLeastSquares::compute_normals_</a></div><div class="ttdeci">bool compute_normals_</div><div class="ttdoc">Parameter that specifies whether the normals should be computed for the input cloud or not</div><div class="ttdef"><b>Definition:</b> mls.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ad168be16626ea58d1c31c321bd1d980f"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ad168be16626ea58d1c31c321bd1d980f">pcl::MovingLeastSquares::process</a></div><div class="ttdeci">void process(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for surface reconstruction for all points given in &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> mls.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ad7623ffdbf0db9c66b246b5499c07706"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ad7623ffdbf0db9c66b246b5499c07706">pcl::MovingLeastSquares::rng_uniform_distribution_</a></div><div class="ttdeci">boost::shared_ptr&lt; boost::variate_generator&lt; boost::mt19937 &amp;, boost::uniform_real&lt; float &gt; &gt; &gt; rng_uniform_distribution_</div><div class="ttdoc">Random number generator using an uniform distribution of floats</div><div class="ttdef"><b>Definition:</b> mls.h:521</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ad949e7434b0d90828c903fe1ff425ee7"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ad949e7434b0d90828c903fe1ff425ee7">pcl::MovingLeastSquares::getDilationVoxelSize</a></div><div class="ttdeci">float getDilationVoxelSize()</div><div class="ttdoc">Get the voxel size for the voxel grid</div><div class="ttdef"><b>Definition:</b> mls.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_adaf7406e16a85ba21c0c100d8d0d95e3"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#adaf7406e16a85ba21c0c100d8d0d95e3">pcl::MovingLeastSquares::search_method_</a></div><div class="ttdeci">SearchMethod search_method_</div><div class="ttdoc">The search method template for indices.</div><div class="ttdef"><b>Definition:</b> mls.h:306</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ae0fca003d2d4b9d2f4fd5cbb775c0cec"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ae0fca003d2d4b9d2f4fd5cbb775c0cec">pcl::MovingLeastSquares::getPointDensity</a></div><div class="ttdeci">int getPointDensity()</div><div class="ttdoc">Get the parameter that specifies the desired number of points within the search radius</div><div class="ttdef"><b>Definition:</b> mls.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ae27440d95b1fc5568b2ec820302654a4"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ae27440d95b1fc5568b2ec820302654a4">pcl::MovingLeastSquares::performProcessing</a></div><div class="ttdeci">virtual void performProcessing(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> mls.hpp:466</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ae5e4d16c7aae631ef02bf1ee843bd55e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ae5e4d16c7aae631ef02bf1ee843bd55e">pcl::MovingLeastSquares::setSearchRadius</a></div><div class="ttdeci">void setSearchRadius(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.</div><div class="ttdef"><b>Definition:</b> mls.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ae7ce226e11ebd75b8cc735c768e3d71e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ae7ce226e11ebd75b8cc735c768e3d71e">pcl::MovingLeastSquares::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod()</div><div class="ttdoc">Get a pointer to the search method used.</div><div class="ttdef"><b>Definition:</b> mls.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_aea681e491f0d8671dbd6e36ccd8f68b5"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#aea681e491f0d8671dbd6e36ccd8f68b5">pcl::MovingLeastSquares::dilation_iteration_num_</a></div><div class="ttdeci">int dilation_iteration_num_</div><div class="ttdoc">Number of dilation steps for the VOXEL_GRID_DILATION upsampling method</div><div class="ttdef"><b>Definition:</b> mls.h:433</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_aec89a5e1f9001476eb1fc2b8db63d650"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#aec89a5e1f9001476eb1fc2b8db63d650">pcl::MovingLeastSquares::setPolynomialFit</a></div><div class="ttdeci">void setPolynomialFit(bool polynomial_fit)</div><div class="ttdoc">Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimati...</div><div class="ttdef"><b>Definition:</b> mls.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_af89da1f47e32a533e5c0c75d1a244a74"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#af89da1f47e32a533e5c0c75d1a244a74">pcl::MovingLeastSquares::computeMLSPointNormal</a></div><div class="ttdeci">void computeMLSPointNormal(int index, const std::vector&lt; int &gt; &amp;nn_indices, std::vector&lt; float &gt; &amp;nn_sqr_dists, PointCloudOut &amp;projected_points, NormalCloud &amp;projected_points_normals, PointIndices &amp;corresponding_input_indices, MLSResult &amp;mls_result) const</div><div class="ttdoc">Smooth a given point and its neighborghood using Moving Least Squares.</div><div class="ttdef"><b>Definition:</b> mls.hpp:165</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_afb0395459bc94fa4c1990b47d471a4bc"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#afb0395459bc94fa4c1990b47d471a4bc">pcl::MovingLeastSquares::mls_results_</a></div><div class="ttdeci">std::vector&lt; MLSResult &gt; mls_results_</div><div class="ttdoc">Stores the MLS result for each point in the input cloud</div><div class="ttdef"><b>Definition:</b> mls.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_afbde287f8eb3329c22d0246db630ad58"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#afbde287f8eb3329c22d0246db630ad58">pcl::MovingLeastSquares::voxel_size_</a></div><div class="ttdeci">float voxel_size_</div><div class="ttdoc">Voxel size for the VOXEL_GRID_DILATION upsampling method</div><div class="ttdef"><b>Definition:</b> mls.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_afe8cc1328aa77f8262f4243dd4fdba37"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#afe8cc1328aa77f8262f4243dd4fdba37">pcl::MovingLeastSquares::distinct_cloud_</a></div><div class="ttdeci">PointCloudInConstPtr distinct_cloud_</div><div class="ttdoc">The distinct point cloud that will be projected to the MLS surface.</div><div class="ttdef"><b>Definition:</b> mls.h:303</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::Normal &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a441f41e648d284d68e1f2015d40f5e7c"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search&lt; PointInT &gt;::radiusSearch</a></div><div class="ttdeci">virtual int radiusSearch(const PointInT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const=0</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_moving_least_squares_1_1_m_l_s_result_html"><div class="ttname"><a href="structpcl_1_1_moving_least_squares_1_1_m_l_s_result.html">pcl::MovingLeastSquares::MLSResult</a></div><div class="ttdoc">Data structure used to store the results of the MLS fitting</div><div class="ttdef"><b>Definition:</b> mls.h:349</div></div>
<div class="ttc" id="astructpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_1_1_leaf_html"><div class="ttname"><a href="structpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid_1_1_leaf.html">pcl::MovingLeastSquares::MLSVoxelGrid::Leaf</a></div><div class="ttdef"><b>Definition:</b> mls.h:379</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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